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I am trying to debug a ROS project which is started by the followinng (simplified) launch file. When the launch file is executed with launch-prefix="gdb --args" appended to the last part of every node tag, gdb seems to start fine. (I also compile the project with catkin_make -DCMAKE_BUILD_TYPE=Debug.)

However, when I try to type run command, it's showing a weird behavior, seeeming not getting the correct input that I type (please see at the very last part of the output).

project.launch

<launch>
  <arg name="cf_path" default = "..." />
  <arg name="path" default = "..." />

  <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log" launch-prefix="gdb --args">
    <param name="cf_file" type="string" value="..." />
    <param name="folder" type="string" value="..." />
  </node>

  <node name="estimator" pkg="estimator" type="estimator" output="screen" launch-prefix="gdb --args">
    <param name="cf_file" type="string" value="..." />
    <param name="folder" type="string" value="..." />
  </node>

  <node name="pose_graph" pkg="pose_graph" type="pose_graph" output="screen" launch-prefix="gdb --args">
    ...
  </node>
</launch>

Output

x@laptop:~/project$ roslaunch estimator project.launch
... logging to /home/x/.ros/log/9a2f20e0-0b9d-11ea-be50-380025e3d4b0/roslaunch-laptop-14259.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://laptop:45849/

SUMMARY
========

PARAMETERS
 * /feature_tracker/cf_file: /home/x/project...
 * /feature_tracker/folder: /home/x/project...
 * /pose_graph/cf_file: /home/x/project...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /estimator/cf_file: /home/x/project...
 * /estimator/folder: /home/x/project...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    estimator (estimator/estimator)

auto-starting new master
process[master]: started with pid [14269]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9a2f20e0-0b9d-11ea-be50-380025e3d4b0
process[rosout-1]: started with pid [14282]
started core service [/rosout]
process[feature_tracker-2]: started with pid [14294]
process[estimator-3]: started with pid [14301]
process[pose_graph-4]: started with pid [14303]
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
...
This GDB was configured as "x86_64-linux-gnu".
...
Type "apropos word" to search for commands related to "word"
...
...
Reading symbols from /home/x/project/devel/lib/estimator/estimator...GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
...
...
Reading symbols from /home/x/project/devel/lib/pose_graph/pose_graph...done.
(gdb) done.
(gdb) The program is not being run.
(gdb) The program is not being run.
(gdb) Undefined command: "nnu".  Try "help".
(gdb) Undefined command: "rrnu".  Try "help".
Undefined command: "rrnu".  Try "help".
Undefined command: "nq".  Try "help".

@Choco93 Can I ask why having odometry in the middle of the tree doesn't make sense? I am having this problem where my r

I am very confused by the coordinate frame in this tutorial.

In this command line syntax

rosrun tf static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

1. Does the value x y z yaw pitch roll represents the transform from child_frame_id to frame_id? Or the other way around?

2. And what is the relationship between frame_id and child_frame_id? What is the order of the yaw pitch row in the transformation? Which one is the correct relationship?

   • Extrinsic rotation (occurs about the axes of the fixed coordinate system):

     • child_frame_id = R(yaw) * R(pitch) * R(roll) * frame_id + [x,y,z]
     • child_frame_id = R(roll) * R(pitch) * R(yaw) * frame_id + [x,y,z]

   • Intrinsic rotation (occurs about the axes of a coordinate system XYZ attached to a moving body):

     • child_frame_id = frame_id * R(yaw) * R(pitch) * R(roll) + [x,y,z]
     • child_frame_id = frame_id * R(roll) * R(pitch) * R(yaw) + [x,y,z]

@stevemacenski I am trying to do it myself right now. But I was just hoping that someone who is an expert like you can p

@stevemacenski I am trying to do it myself right now. But I was just hoping that someone who is an expert like you can p

I am trying to do it myself right now. But I was just hoping that someone who is an expert like you can point it out.

I am trying to do it myself right now. But I was just hoping that someone who is expert like you can point it out.

I am trying to do it myself right now. But I was just hoping that someone who is expert like you can point it out and co

What is the mathematical relationship between parent and child frame in tf? I am very confused by the coordinate frame i

What is the mathematical relationship between parent and child frame in tf? I am very confused by the coordinate frame i

What is the mathematical relationship between parent and child frame in tf? I am very confused by the coordinate frame i

Also, is the roll, pitch, yaw in this syntax intrinsic rotation or extrinsic rotation?

Thanks for pointing to the document. But could you please (in question 2) let me know which one is the correct mathemati

Thanks for pointing to the document. But could you please (in question 2) let me know which one is the correct mathemati

Environment

• Ubuntu 16.04
• ROS Kinetic

Issues

1. I notice that the camera in rviz in ThirdPersonFollower mode doesn't seem to align correctly. As can be seen in the figures below, I set focal point to 0; 0; 0, yaw to 0, and pitch to 0. But the camera doesn't align correctly. Am I missing anything here?

2. Also, when I play the rosbag file, the camera pose seems to change from frame to frame, which I don't know what possible reasons could be. Does anybody have this kind of behavior?

What could be the possible reasons of this? Is this a known bug?

Here is some of the screenshots:

What is the mathematical relationship between parent and child frame in tf? I am very confused by the coordinate frame i

What is the mathematical relationship between parent and child frame? I am very confused by the coordinate frame in this

What is the mathematical relationship between parent and child frame? I am very confused by the coordinate frame in this

What is the mathematical relationship between parent and child frame? I am very confused by the coordinate frame in this

What is the mathematical relationship between parent and child frame? I am very confused by the coordinate frame in this

@Weasfas I think I have found the solution from this post. I need to set both Fixed Frame and Target Frame to the same f

@Weasfas Thanks! I think I misunderstood the ThirdPersonFollower view typeThe document says that n ThirdPersonFollower,

@Weasfas Thanks! It turns out that I misunderstood the ThirdPersonFollower view type; I was too quick when "seeking" inf

It is called Focal Point, which can be set on the panel on the right side of rviz.

I am running a ROS project, publising topics, and viewing in rviz. But I can't seem to figure out how to make the zooming center coincide with the camera of the robot. That is, I would like to put myself into the robot's camera frame and view the pointcloud plot as the robot is moving.

The plot seems to rotate around this yellow point when I use left click on rviz. Using middle click doesn't seem to move or translate the plot as I expect. Using right click also zooms in and out from this yellow point.

Could you please point me out what is this yellow point? If this is the zooming center, how can I make this coincide with the robot's camera frame?